Besides ATE, we also measure the per-frame pose accuracy based on Translation Error (TE) [1]}. Given the ground-truth pose \(\mathbf {T}^t_E\)  and the estimated pose \(\mathbf {T}^t_G\)  of a frame \(t\) , TE is computed as:
\(\text{TE}=\Vert trans((\mathbf {T}_G^t)^{-1}\mathbf {T}^t_E)\Vert _2,\) 
